Optimal Feedback Control for Anthropomorphic Manipulators
Proc. IEEE International Conference on Robotics and Automation (ICRA 2010)
Date
2010Author
Mitrovic, Djordje
Nagashima, Sho
Klanke, Stefan
Matsubara, Takamitsu
Vijayakumar, Sethu
Metadata
Abstract
We study target reaching tasks of redundant
anthropomorphic manipulators under the premise of minimal
energy consumption and compliance during motion. We formulate
this motor control problem in the framework of Optimal
Feedback Control (OFC) by introducing a specific cost function
that accounts for the physical constraints of the controlled plant.
Using an approximative computational optimal control method
we can optimally control a high-dimensional anthropomorphic
robot without having to specify an explicit inverse kinematics,
inverse dynamics or feedback control law. We highlight the
benefits of this biologically plausible motor control strategy
over traditional (open loop) optimal controllers: The presented
approach proves to be significantly more energy efficient and
compliant, while being accurate with respect to the task at
hand. These properties are crucial for the control of mobile
anthropomorphic robots, that are designed to interact safely in
a human environment. To the best of our knowledge this is the
first OFC implementation on a high-dimensional (redundant)
manipulator.